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Pneumatic soft gripper capable of locking joints in vacuum absorption mode

A vacuum adsorption and software technology, applied in the direction of manipulators, manufacturing tools, chucks, etc., can solve problems that affect the flexibility and adaptability of flexible drives, complex control systems, and low working reliability, so as to improve bearing capacity, stability, and rigidity The effect of obvious performance and simple processing

Active Publication Date: 2020-02-14
SHANGHAI JIAO TONG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Existing flexible robots intersect with rigid robots still have disadvantages such as low bearing capacity, low working reliability, and complex control systems.
However, the existing methods that can improve the stiffness of flexible actuators, including variable stiffness actuators, inevitably introduce rigid devices, which affect the advantages of flexibility and adaptability of flexible actuators.

Method used

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  • Pneumatic soft gripper capable of locking joints in vacuum absorption mode
  • Pneumatic soft gripper capable of locking joints in vacuum absorption mode
  • Pneumatic soft gripper capable of locking joints in vacuum absorption mode

Examples

Experimental program
Comparison scheme
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Embodiment Construction

[0023] like figure 1 and figure 2 As shown, this embodiment includes: a retention structure 8, a flexible sucker spine 5 and two pairs of soft fingers 6, wherein: the soft fingers 6 are arranged on the retention structure 8, and the flexible sucker spine 5 is arranged on each pair of soft fingers 6 Between to control the relative position of the soft finger 6.

[0024] The retaining structure 8 includes: a fixing plate 1, two adjusting plates 2 and a connecting rod 7, wherein: the adjusting plate 2 is arranged in the chute 101 of the fixing plate 1 through the cooperation of the bolt 3 and the nut 4, and each adjusting plate The plate 2 is fixedly connected with the roots of a pair of juxtaposed soft fingers 6 , and the connecting rod 7 runs through the spine 5 of the flexible suction cup and the circular hole 601 at the end of the soft fingers 6 .

[0025] like image 3 As shown, the two sides of the fixed plate 1 are provided with sliding grooves 101 to change the relati...

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PUM

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Abstract

A pneumatic soft gripper capable of locking joints in a vacuum absorption mode comprises a position fixing structure, flexible sucking disc spines and multiple groups of soft fingers in pairs, whereinthe soft fingers are arranged on the position fixing structure, and each flexible sucking disc spine is arranged between the two soft fingers in each pair so as to control the relative position of the two soft fingers in each pair. The pneumatic soft gripper capable of locking the joints in the vacuum absorption mode is simple in structure, easy to integrate, simple to process and low in cost. Byadding the flexible sucking disc spines in the soft fingers, a variable rigidity and full flexibility gripper is obtained, not only are the softness and flexibility characteristics of the soft gripper kept, but also bearing force and stability of the fingers are improved, a gripping state is kept through self-locking and without the need for additional energy supply in the gripping process, and therefore work energy consumption is reduced.

Description

technical field [0001] The invention relates to a technology in the field of robots and industrial automation, in particular to a pneumatic software gripper for vacuum adsorption locking joints. Background technique [0002] With the development of silicone rubber and smart materials, soft materials have become a hot research field for making robots. Soft robots based on materials such as silicone rubber have extremely high compliance and softness. The safety at work far exceeds that of traditional rigid robots. Because it can interact well with the environment, soft robots are more suitable for manipulating complex or fragile objects. The gripping action is achieved by inflating it to bend and deform it. Due to the good flexibility and adaptability of the soft hand, the control complexity is greatly reduced, and it is suitable for grasping fragile, fragile and changeable objects. Existing flexible robots intersecting rigid robots still have disadvantages such as low bear...

Claims

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Application Information

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IPC IPC(8): B25J15/12B25J15/06
CPCB25J15/12B25J15/0683
Inventor 郭欣宇张文明
Owner SHANGHAI JIAO TONG UNIV
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